Mobile object control device and mobile object control method

ABSTRACT

A hardware processor of a mobile object executes the program stored in a storage device to acquire information indicating a road situation in a traveling direction of a mobile object; to recognize whether the mobile object is moving on a roadway or a predetermined region different from the roadway; to recognize presence of a contact portion between the sidewalk and the predetermined region in the traveling direction of the mobile object; to control the speed of the mobile object at least partially, and limit a speed at which the mobile object is moving on the roadway to a first speed and limit a speed at which the mobile object is moving on a sidewalk to a second speed slower than the first speed; and to bring a speed of the mobile object closer to the second speed when the mobile object is moving on the roadway, the contact portion is recognized within a predetermined range from the mobile object, and the road situation is in a predetermined state.

CROSS-REFERENCE TO RELATED APPLICATION

Priority is claimed on Japanese Patent Application No. 2021-056995,filed Mar. 30, 2021, the content of which is incorporated herein byreference.

BACKGROUND Field of the Invention

The present invention relates to a mobile object control device and amobile object control method.

Description of Related Art

In the related art, the invention of a one-person riding electromotivevehicle capable of moving on a sidewalk has been disclosed (see JapaneseUnexamined Patent Application, First Publication No. 2020-189536).

SUMMARY

Technologies of the related art have not taken into account mobileobjects capable of moving on both roadways and predetermined regionsdifferent from roadways. Therefore, appropriate control cannot beperformed at the time of entrance to predetermined regions from roadwaysin some cases.

The present invention is devised in view of such circumstances and anobjective of the present invention is to provide a mobile object controldevice and a mobile object control method capable of appropriatelycontrolling a mobile object capable of moving on both a roadway and apredetermined region different from the roadway at the time of entranceto a predetermined region from a roadway.

A driving support device, a mobile object control device and a mobileobject control method according to the present invention adopt thefollowing configurations.

(1) According to an aspect of the present invention, a mobile objectcontrol device includes a storage device storing a program and ahardware processor. The hardware processor executes the program storedin the storage device to: acquire information indicating a roadsituation in a traveling direction of a mobile object; recognize whetherthe mobile object is moving on a roadway or a predetermined regiondifferent from the roadway; recognize presence of a contact portionbetween the predetermined region and the roadway in the travelingdirection of the mobile object; control the speed of the mobile objectat least partially, and limit a speed at which the mobile object ismoving on the roadway to a first speed and limit a speed at which themobile object is moving on a sidewalk to a second speed slower than thefirst speed; and bring a speed of the mobile object closer to the secondspeed when the mobile object is moving on the roadway, the contactportion is recognized within a predetermined range from the mobileobject, and the road situation is in a predetermined state.

(2) In the mobile object control device according to the aspect (1), thehardware processor may question about an intention to enter thepredetermined region using an interface device when the mobile object ismoving on the roadway, the contact portion is recognized within a firstpredetermined range from the mobile object, and the road situation is apredetermined state. A speed of the mobile object may be brought closerto the second speed when a positive response is obtained.

(3) In the mobile object control device according to the aspect (1), thehardware processor may determine that the road situation is apredetermined state when it is recognized based on the acquiredinformation that a dead end is within a second predetermined range inthe traveling direction of the mobile object.

(4) In the mobile object control device according to the aspect (1), thehardware processor may determine that the road situation is apredetermined state when it is recognized based on the acquiredinformation that a construction site is within a second predeterminedrange in the traveling direction of the mobile object.

(5) In the mobile object control device according to the aspect (1), thehardware processor may determine that the road situation is apredetermined state when it is recognized based on the acquiredinformation that traffic congestion occurs within a second predeterminedrange in the traveling direction of the mobile object.

(6) In the mobile object control device according to the aspect (1), thehardware processor may determine that the road situation is apredetermined state when it is recognized based on the acquiredinformation that a speed of another mobile object moving in the samedirection as the mobile object is greater than a threshold A within asecond predetermined range in the traveling direction of the mobileobject.

(7) In the mobile object control device according to the aspect (1), thehardware processor may determine that the road situation is apredetermined state when it is recognized based on the acquiredinformation that a predetermined number of types or more of mobileobjects coexist within a second predetermined range in the travelingdirection of the mobile object.

(8) In the mobile object control device according to the aspect (1), thehardware processor may determine that the road situation is apredetermined state when it is recognized based on the acquiredinformation that the number of large vehicles is equal to or greaterthan a threshold B within a second predetermined range in the travelingdirection of the mobile object.

(9) In the mobile object control device according to the aspect (1), thehardware processor may recognize whether the mobile object is moving onthe roadway or the predetermined region based on an output of an outsideworld detection device detecting an outside situation of the mobileobject.

(10) In the mobile object control device according to the aspect (1),the hardware processor may recognize whether the mobile object is movingon the roadway or the predetermined region based on a manipulation of anoccupant of the mobile object on a switch provided inside the mobileobject.

(11) In the mobile object control device according to the aspect (1),when the hardware processor may recognize that the mobile object ismoving on the predetermined region, the hardware processor causes anexternal report device to report the mobile object which is moving onthe predetermined region to the outside of the mobile object.

(12) According to another aspect of the present invention, a mobileobject control method is performed by a computer controlling a mobileobject which is capable of moving both on a roadway and a predeterminedregion different from the roadway. The method includes: acquiringinformation indicating a road situation in a traveling direction of amobile object; recognizing whether the mobile object is moving on aroadway or a predetermined region; recognizing presence of a contactportion between the roadway and the predetermined region in thetraveling direction of the mobile object; controlling the speed of themobile object at least partially; limiting a speed at which the mobileobject is moving on the roadway to a first speed; limiting a speed atwhich the mobile object is moving on the predetermined region to asecond speed slower than the first speed; and bringing the speed of themobile object closer to the second speed when the mobile object ismoving on the roadway, the contact portion is recognized within a firstpredetermined range from the mobile object, and the road situation is apredetermined state.

(13) According to still another aspect of the present invention, amobile object control device includes a storage device storing a programand a hardware processor. The hardware processor executes the programstored in the storage device to: acquire information indicating a roadsituation in a traveling direction of a mobile object; recognize whetherthe mobile object is moving on a roadway or a predetermined regiondifferent from the roadway; recognize presence of a contact portionbetween the roadway and the predetermined region in the travelingdirection of the mobile object; control the speed of the mobile objectat least partially, and limit a speed at which the mobile object ismoving on the roadway to a first speed and limit a speed at which themobile object is moving on a sidewalk to a second speed slower than thefirst speed; and suggest deceleration to an occupant of the mobileobject using an interface device when the mobile object is moving on theroadway, the contact portion is recognized within a predetermined rangefrom the mobile object, and the road situation is in a predeterminedstate.

(14) According to still another aspect of the present invention, amobile object control method is performed by a computer controlling amobile object on which at least one occupant gets and which is capableof moving both on a roadway and a predetermined region different fromthe roadway. The method includes: acquiring information indicating aroad situation in a traveling direction of a mobile object; recognizingwhether the mobile object is moving on a roadway or a predeterminedregion; recognizing presence of a contact portion between the roadwayand the predetermined region in the traveling direction of the mobileobject; controlling the speed of the mobile object at least partially;limiting a speed at which the mobile object is moving on the roadway toa first speed; limiting a speed at which the mobile object is moving onthe predetermined region to a second speed slower than the first speed;and suggesting deceleration to the occupant using an interface devicewhen the mobile object is moving on the roadway, the contact portion isrecognized within a first predetermined range from the mobile object,and the road situation is in a predetermined state.

According to the aspects (1) to (14), it is possible to appropriatelycontrol a mobile object capable of moving on both a roadway and apredetermined region different from the roadway at the time of entranceto a predetermined region from a roadway.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a diagram illustrating an exemplary configuration of a mobileobject and a control device according to an embodiment.

FIG. 2 is a perspective view illustrating the mobile object when viewedfrom the upper side.

FIG. 3 is a diagram illustrating an exemplary shape of a contactportion.

FIG. 4 is a diagram illustrating an exemplary shape of the contactportion.

FIG. 5 is a diagram illustrating an exemplary shape of the contactportion.

FIG. 6 is a diagram illustrating an example of a scenario in which aspecific speed is controlled.

FIG. 7 is a flowchart illustrating an example of a flow of a processperformed by the control device according to the embodiment.

DETAILED DESCRIPTION

Hereinafter, an embodiment of a mobile object control device, a mobileobject control method, and a storage medium according to the presentinvention will be described with reference to the drawings. A mobileobject moves on both a roadway and a predetermined region different fromthe roadway. The predetermined region is, for example, a sidewalk. Thepredetermined region may be some or all of a roadside strip, a bicyclelane, a public open space, and the like or may include all of asidewalk, a roadside strip, a bicycle lane, and a public open space. Inthe following description, the predetermined region is assumed to be asidewalk. In the following description, a portion described as a“sidewalk” can be appropriately replaced with the “predeterminedregion.”

First Embodiment

FIG. 1 is a diagram illustrating an exemplary configuration of a mobileobject 1 and a control device 100 according to an embodiment. In themobile object 1, for example, an outside world detection device 10, amobile object sensor 12, an operator 14, an internal camera 16, apositioning device 18, a conversation device 20, a mode changeoverswitch 22, a movement mechanism 30, a driving device 40, an externalreport device 50, a storage device 70, and a control device 100 aremounted. Of these constituents, some of the constituents unnecessary toimplement functions of the present invention may be omitted.

The outside world detection device 10 is any of various devices in whicha traveling direction of the mobile object 1 is a detection range. Theoutside world detection device 10 includes an external camera, a radardevice, a light detection and ranging (LIDAR) device, and a sensorfusion device. The outside world detection device 10 outputs information(an image, a position of an object, or the like) indicating a detectionresult to the control device 100.

The mobile object sensor 12 includes, for example, a speed sensor, anacceleration sensor, a yaw rate (angular velocity) sensor, an azimuthsensor, and a manipulation amount detection sensor or the like mountedon the operator 14. The operator 14 includes, for example, an operator(for example, an accelerator pedal or a brake pedal) for giving aninstruction for an acceleration or deceleration speed and an operator(for example, a steering wheel) for giving an instruction for steering.In this case, the mobile object sensor 12 may include an acceleratoropening sensor, a brake step sensor, and a steering torque sensor. Themobile object 1 may include an operator (for example, a rotationaloperator with no annular shape, a joystick, a button, or the like) otherthan the above sensor as the operator 14.

The internal camera 16 images at least the head of an occupant of themobile object 1 in front. The internal camera 16 is a digital camerausing an image sensor such as a charge coupled device (CCD) camera or acomplementary metal oxide semiconductor (CMOS) camera. The internalcamera 16 outputs captured images to the control device 100.

The positioning device 18 is a device that locates a position of themobile object 1. The positioning device 18 is for example, globalnavigation satellite system (GNSS) receiver, identifies a position ofthe mobile object 1 based on signals received from GNSS satellites, andoutputs the position as positional information. The positionalinformation of the mobile object 1 may be estimated from a position of aWi-Fi base station to which a communication device to be described belowis connected.

The conversation device 20 includes, for example, a speaker, amicrophone, a touch panel, and a communication device. The conversationdevice 20 appropriately processes a vocal sound of an occupant correctedby a microphone, transmits the processed vocal sound to a server deviceusing a communication device via a network, and supplies informationregarding the vocal sound from a speaker based on information repliedfrom the server device. The conversation device 20 is also called anagent device, a concierge device, an assistance device, or the like insome cases. The server device has a sound recognition function, anatural language processing function, a meaning interpretation function,a reply content determination function, and the like. The conversationdevice 20 may transmit the positional information to the server deviceand the server device may reply with the positional information andinformation of facility corresponding to a guidance request (forexample, “Where is a delicious noodle shop nearby?”) coming from anoccupant. In this case, a sound guidance such as “If you turn leftahead, it is there” is performed by the conversation device 20. Thepresent invention is not limited thereto. The conversation device 20 hasa function of receiving a natural speech from an occupant and returningan appropriate reply. The conversation device 20 may have a function ofperforming a simple conversation without involvement with the serverdevice, such as a function of asking a question from a device side andreceiving a reply, and thus may question an occupant in response to arequest from the control device 100. The conversation device 20 is anexample of an interface device.

The mode changeover switch 22 is a switch manipulated by an occupant.The mode changeover switch 22 may be a mechanical switch or may be agraphical user interface (GUI) switch set on a touch panel. The modechangeover switch 22 receives a manipulation of switching a driving modeto any one of, for example, mode A which is a speed assistance mode inwhich a steering manipulation is performed by an occupant andacceleration or deceleration speed control is automatically performed:mode B which is a manual driving mode in which a steering manipulationand an acceleration or deceleration speed manipulation are performed byan occupant, and mode C which is an automated driving mode in whichmanipulation control and acceleration or deceleration speed control areautomatically performed.

The movement mechanism 30 is a mechanism that moves the mobile object 1on a road. The movement mechanism 30 is, for example, a wheel groupincluding a steering wheel and driving wheel. The movement mechanism 30may be each section for multiped walking.

The driving device 40 outputs a force to the movement mechanism 30 tomove the mobile object 1. For example, the driving device 40 includes amotor driving the driving wheel, a battery storing power to be suppliedto the motor, and a steering device that adjust a steering angle of thesteering wheel. The driving device 40 may include an internal combustionengine or a fuel cell as a driving power output unit or a powergeneration unit. The driving device 40 may further include a brakedevice operating with a frictional force or air resistance.

The external report device 50 is provided in an external plate unit ofthe mobile object 1 and is, for example, a lamp, a display device, aspeaker, or the like for reporting information to the outside of themobile object 1. The external report device 50 performs differentoperations between a state in which the mobile object 1 is moving on asidewalk and a state in which the mobile object 1 is moving on aroadway. For example, the external report device 50 performs controlsuch that a lamp is caused to emit light when the mobile object 1 ismoving on a sidewalk, and the lamp is caused not to emit light when themobile object 1 is moving on a roadway. The color of the light emittedfrom the lamp may be appropriate color determined by laws. When theexternal report device 50 is a display device, the external reportdevice 50 displays an indication of “traveling on a sidewalk” in text ora graph in a case in which the mobile object 1 is traveling on asidewalk.

FIG. 2 is a perspective view illustrating the mobile object 1 whenviewed from the upper side. In the drawing, FW denotes a steering wheel,RW denotes a driving wheel, SD is a steering device, MT denotes a motor,and BT denotes a battery. AP denotes an accelerator pedal, BP denotes abrake pedal, WH denotes a steering wheel, SP denotes a speaker, and MCdenotes a microphone. The illustrated mobile object 1 is a one-personriding mobile object and an occupant P sits on a driving seat DS and aseat belt SB is fastened. An arrow D1 indicates a traveling direction (avelocity vector) of the mobile object 1. The outside world detectiondevice 10 is provided near a front edge of the mobile object 1, theinternal camera 16 is provided at a position at which the head of theoccupant P can be imaged from the front of the occupant P, and the modechangeover switch 22 is provided in each of a boss section of thesteering wheel WH. The external report device 50 is provided as adisplay device near a front edge of the mobile object 1.

Referring back to FIG. 1, the storage device 70 is, for example, anon-transitory storage device such as a hard disk drive (HDD), a flashmemory, or a random access memory (RAM). The storage device 70 storesmap information 72, a program 74 which is executed by the control device100, and the like. In the drawing, the storage device 70 is illustratedoutside of a range of the control device 100, but the storage device 70may be included in the control device 100.

Control Device

The control device 100 includes, for example, an acquirer 110, a roadtype recognizer 120, a contact portion recognizer 130, and a controller140. For example, a hardware processor such as a central processing unit(CPU) executes the program (software) 74 for implementation. Some or allof the constituent elements may be implemented by hardware (a circuitunit including circuitry) such as a large scale integration (LSI), anapplication specific integrated circuit (ASIC), a field-programmablegate array (FPGA), or a graphics processing unit (GPU) or may beimplemented by software and hardware in cooperation. The program may bestored in advance in the storage device 70 or may be stored in adetachably mounted storage medium such as a DVD or a CD-ROM so that thestorage medium (a non-transitory storage medium) is mounted on a drivedevice to be installed on the storage device 70.

The acquirer 110 acquires information indicating a road situation in atraveling direction of the mobile object 1. The information indicatingthe road situation includes, for example, (1) presence or absence of adead end and (2) presence or absence of a construction site. Theinformation indicating the road situation may include informationregarding other mobile objects in the traveling direction of the mobileobject 1. For example, the information indicating the road situation mayinclude (3) information indicating presence or absence of trafficcongestion, (4) a speed (which may be, for example, a statistical valuesuch as an average speed or a median speed) of other mobile objectsmoving in the same direction of the mobile object 1 in the travelingdirection of the mobile object 1, and (5) types of other mobile objects(large vehicles, special vehicles, normal vehicles, two-wheeledvehicles, bicycles). The acquirer 110 acquires some or all of (1) to (5)or the same kinds of other information as information indicating theroad situation in the traveling direction of the mobile object 1.

For the presence or absence of a dead end or a construction site, theacquirer 110 acquires information, for example, by analyzing an imagecaptured by an external camera of the outside world detection device 10.For example, when image is input, the acquirer 110 acquires informationindicating the presence or absence of a dead end or a construction siteby inputting the image captured by the external camera to a learnedmodel that is leaned so that the information indicating the presence orabsence of the dead end or the construction site is output. Instead of(or in addition to) this, the acquirer 110 may acquire the informationindicating the presence or absence of a dead end or a construction sitefrom an external device providing traffic information via acommunication device (not illustrated: a communication device includedin the conversation device 20 may be used). The acquirer 110 may acquirethe information indicating the presence or absence of a dead end or aconstruction site by applying a position of the mobile object 1 to themap information 72. As the dead end, there are a dead end in a roadstructure and a dead end at which passage is not temporarily permitted.In the latter, the map information 72 is not described in some cases.Therefore, it may be necessary to analyze image, for example.

For other mobile objects, the acquirer 110 acquires information, forexample, by analyzing an image captured by the external camera of theoutside world detection device 10. For example, when images are input,the acquirer 110 acquires information indicating presence, positions,types, or the like of the other mobile objects by inputting the imagescaptured by the external camera to a learned model that is leaned sothat the information indicating the presence, positions, types, or thelike of the other mobile objects is output. The types of other mobileobjects can also be estimated based on sizes in the images or intensityor the like of reflected waves received by the radar device of theoutside world detection device 10. For example, the acquirer 110acquires speeds of the other mobile objects detected using Doppler shiftby the radar device.

The road type recognizer 120 recognizes whether the mobile object 1 ismoving on a roadway or a sidewalk. The road type recognizer 120recognizes whether the mobile object 1 is moving on a roadway or asidewalk, for example, by analyzing an image captured by an externalcamera of the outside world detection device 10. An example of imageanalysis includes semantic segmentation. The road type recognizer 120classifies pixels of a frame of an image into classes (roadways,sidewalks, boundaries, obstacles, and the like) and performs labeling,recognizes that the mobile object 1 is moving on a roadway when thenumber of pixels labeled as a roadway in a region equivalent to a frontface of the mobile object 1 is large, and recognizes that the mobileobject 1 is moving on a sidewalk when the number of pixels in which alabel of the sidewalk is granted to a region equivalent to the frontface of the mobile object 1 is large in the image. The present inventionis not limited thereto. When the road type recognizer 120 recognizes avehicle in a region equivalent to the front face of the mobile object 1in the image, the road type recognizer 120 may recognize that the mobileobject 1 is moving in the roadway. When the road type recognizer 120recognizes a pedestrian in a region equivalent to the front face of themobile object 1 in the image, the road type recognizer 120 may recognizethat the mobile object 1 is moving on the sidewalk. When the width of aroad surface region which is in the region equivalent to the front faceof the mobile object 1 in the image is large, the road type recognizer120 may recognize that the mobile object 1 is moving on the roadway.When the width of the road surface region which is in the regionequivalent to the front face of the mobile object 1 in the image issmall, the road type recognizer 120 may recognize that the mobile object1 is moving on the sidewalk. The road type recognizer 120 may combinepositional information of the mobile object 1 and the map information 72and recognize whether the mobile object 1 is moving on a roadway or asidewalk. In this case, it is necessary for the map information to haveaccuracy to the degree that the roadway and the sidewalk can bedistinguished from each other from positional coordinates. When there isno “predetermined region” in a sidewalk, the road type recognizer 120performs a similar process on a roadside strip, a bicycle lane, a publicopen space, or the like.

The contact portion recognizer 130 recognizes presence of a contactportion between a sidewalk and a roadway in a traveling direction of themobile object. The contact portion is provided at a boundary between asidewalk and a roadway and is a portion in which a load is less than inother portions of the boundary when the mobile object passes through.For example, when there is a step difference in the boundary between thesidewalk and the roadway, a portion (including a portion in which thesidewalk is flush with the roadway) in which the step difference isalleviated. FIGS. 3 to 5 are diagrams illustrating an exemplary shape ofa contact portion. As illustrated in FIG. 3, the contact portion CP is,for example, a portion in which a block BK of the boundary is loweredtogether with a sidewalk SW. In the drawing, RW denotes a roadway. Asillustrated in FIG. 4, the contact portion CP may be a portion in whicha step difference canceling plate PT with which the step differencebetween the roadway RW and the sidewalk SW is buried is placed. Asillustrated in FIG. 5, the contact portion CP may be a portion in whichthe block BK where there is a step difference between the roadway RW andthe sidewalk SW is missing. Apart from these exemplified shapes, thecontact portion CP with any of various shapes is assumed. The contactportion CP may be present not only in a portion along the way of a roadbut also in an intersection or the like. For example, when an image isinput, the contact portion recognizer 130 recognizes presence of thecontact portion CP by inputting an image captured by an external camerato a learned model that is learned so that information indicating aposition of the contact portion CP is output. The contact portionrecognizer 130 may recognize presence of the contact portion CP based onthe shape of a step difference obtained as a result by performingscanning obliquely downward with an LIDAR.

For example, the controller 140 controls the driving device 40 inaccordance with a set driving mode.

In mode A, the controller 140 controls the driving device 40 such that adistance from an object in front of the mobile object 1 is kept to be aconstant value or more when the mobile object 1 is moving on a roadway,and the mobile object 1 is moving at a first speed V1 (for example, aspeed equal to or greater than 10 [km/h] and less than tens of [km/h])when the distance from the object in front of the mobile object 1 issufficiently long. The controller 140 controls the driving device 40such that the distance from the object in front of the mobile object 1is kept to be a constant value or more when the mobile object 1 ismoving on a sidewalk, and the mobile object 1 is moving at a secondspeed V2 (for example, a speed less than 10 [km/h]) when the distant tothe object in front of the mobile object 1 is sufficiently long. Thisfunction is similar to an adaptive cruise control (ACC) function of avehicle moving at a speed set as the first speed V1 or the second speedV2 and a technology used for ACC can be used. In mode A, the controller140 controls a steering angle of a steering wheel based on amanipulation amount of the operator 14 such as a steering wheel. Thisfunction is a similar to a function of a power steering device and atechnology used for a power steering device can be used. Withoutperforming electronic control on steering, the mobile object 1 mayinclude a steering device to which the operator 14 and the steeringmechanism are mechanically connected.

In mode B, the controller 140 controls the driving device 40 based on aspeed of the mobile object 1 and a manipulation amount of an acceleratorpedal or a brake pedal. The controller 140 controls the driving device40 such that the first speed V1 is set an upper limit of the speed whenthe mobile object 1 is moving on a roadway (in the case of mode B, acase in which the speed reaches an upper limit of the speed means thatthe mobile object 1 cannot be accelerated even if an instruction forfurther acceleration is given). The controller 140 controls the drivingdevice 40 such that the second speed V2 is set as the upper limit of thespeed when the mobile object 1 is moving on a sidewalk. Steering issimilar to that of mode A.

In mode C, the controller 140 controls the driving device 40 such that acourse and obstacles are detected based on an output of the outsideworld detection device 10, a target trajectory along which the mobileobject 1 can move while avoiding obstacles in the course is generated,and the mobile object 1 moves along the target trajectory. Even in modeC, the controller 140 controls the driving device 40 such that the firstspeed V1 is set as the upper limit of the speed when the mobile object 1is moving on a roadway. The controller 140 controls the driving device40 such that the second speed V2 is set as the upper limit of the speedwhen the mobile object 1 is moving on a sidewalk. Since mode C is not acore of the present invention, more detailed description will beomitted.

Control in Accordance with Presence of Contact Portion

Hereinafter, control in accordance with presence of a contact portion bythe controller 140 will be described in order from mode A. In mode A,the controller 140 brings a speed of the mobile object 1 closer to thesecond speed V2 from the first speed V1 when the mobile object 1 ismoving on a roadway, a contact portion is recognized within apredetermined range from the mobile object 1, and a road situationacquired in the information by the acquirer 110 is in a predeterminedstate. “Bringing of the speed of the mobile object 1 closer to thesecond speed V2 from the first speed V1” means deceleration of themobile object 1 except for a case in which the mobile object 1 is movingat a low speed or stops in accordance with presence of an unexpectedobstacle. At this time, the controller 140 may ask a question about anintention of the occupant to enter a sidewalk using the conversationdevice 20, may bring the speed of the mobile object 1 closer to thesecond speed V2 when a positive reply is obtained, and may not bring thespeed of the mobile object 1 closer to the second speed V2 when apositive reply is not obtained. Hereinafter, irrespective of whetherthere is a question, “bringing of the speed of the mobile object 1closer to the second speed V2 from the first speed V1 when the mobileobject 1 is moving on a roadway, a contact portion is recognized withina predetermined range from the mobile object 1, and the road situationis in the predetermined state” is referred to as “specific speedcontrol.”

The “predetermined state” refers to, for example, some or all of thefollowing events. Information serving as a reference for determiningwhether the road situation is in the predetermined state is acquired bythe acquirer 110 and is delivered to the controller 140, as describedabove.

(A) The predetermined state is, for example, a state in which a dead endis within a second predetermined range (for example, within a secondpredetermined distance X2 of about tens to hundreds of [m]: the sameapplies below) in the traveling direction of the mobile object 1. Inthis state, it is estimated that the occupant P considers to move on asidewalk.

(B) The predetermined state is, for example, a state in which aconstruction site is within the second predetermined range in thetraveling direction of the mobile object 1. In this state, it isestimated that the occupant P considers to move on a sidewalk.

(C) The predetermined state is, for example, a state in which trafficcongestion occurs within the second predetermined range in the travelingdirection of the mobile object 1. For example, when the number of othermobile objects within the second predetermined range in the travelingdirection of the mobile object 1 is greater than a first threshold (forexample, tens of mobile objects) and an average speed thereof is lessthan a second threshold (for example, a speed of about 20 [km/h]), thecontroller 140 determines that traffic congestion occurs within apredetermined range in the traveling direction of the mobile object 1.This determination process may be performed by the acquirer 110. In thisstate, a speed is not much changed although either a sidewalk or aroadway is used. Therefore, it is highly likely that the occupant Pconsiders to move on a sidewalk.

(D) The predetermined state is, for example, a state in which a speed(for example, a statistical value such as an average speed or a medianspeed) of other mobile objects moving in the same direction as themobile object 1 within the second predetermined range in the travelingdirection of the mobile object 1 is greater than a third threshold (anexample of a threshold A: for example, a value of about 70 [km/h]). Inthis state, a probability of the mobile object 1 using a broad road suchas a main road is high. Thus, since it is supposed that the mobileobject 1 uses a roadway at a relatively low speed, there is a highpossibility of the occupant P considering that he or she does not feelstress when the mobile object is moving on a sidewalk.

(E) The predetermined state is, for example, a state in which apredetermined number of types of other mobile objects coexist amongother mobile objects moving in the same direction as the mobile object 1within the second predetermined range in the traveling direction of themobile object 1. For example, the controller 140 determines that theroad situation is in the predetermined state when a predetermined numberof types (for example, three or more types) of mobile objects areincluded among other mobile objects moving in the same direction as themobile object 1 within the second predetermined range in the travelingdirection of the mobile object 1. In this state, since a plurality oftypes of other mobile objects traveling at different speeds are presentnearby, it is relatively difficult to maneuver the mobile object 1.Therefore, there is a high possibility of the occupant P consideringthat he or she does not feel stress when the mobile object is moving ona sidewalk.

(F) The predetermined state is, for example, a state in which the numberof large vehicles is equal to or greater than a fourth threshold (anexample of a threshold B: for example, about one to five large vehicles)among other mobile objects moving in the same direction of the mobileobject 1 within the second predetermined range in the travelingdirection of the mobile object 1. The large vehicles may include specialvehicles.

FIG. 6 is a diagram illustrating an example of a scenario in which aspecific speed is controlled. In the drawing, X denotes a distancebetween the mobile object 1 and the contact portion CP. CL1 is a whiteline indicating a left end of the roadway RW and CL2 is a dashed linedemarcating a lane in which there is the mobile object 1 and an opposinglane. The distance X is defined as, for example, a distance between aposition of a frontmost side of the contact portion CP and a front endof the mobile object 1. However, the present invention is not limitedthereto and any distance such as a distance between the middle of thecontact portion CP and the center of the mobile object 1 may be defined.In the drawing, a normal vehicle V1, a large vehicle V2, and a bicycleCY are within a second predetermined distance X2 from the mobile object1. Specific speed control is performed when a distance X1 is equal to orless than a first predetermined distance X1 (for example, the contactportion CP is within a first predetermined range from the mobile object1) and a predetermined number of types of other mobile objects coexistamong other mobile objects moving in the same direction as the mobileobject 1 within a second predetermined range (within a range up to thesecond predetermined distance X2) in the traveling direction of themobile object 1. The first predetermined distance may be shorter than orthe same as the second predetermined distance.

In mode B, the controller 140 gradually switches the upper limit of thespeed of the mobile object 1 from the first speed V1 to the second speedV2 when the mobile object 1 is moving on a roadway, the contact portionis recognized within a predetermined range from the mobile object 1, anda road situation is the predetermined state (a further question may beperformed for checking). Instead of this, when the foregoing conditionsare satisfied in mode B, the controller 140 may make a suggestion usingthe conversation device 20 so that the speed is brought closer to thesecond speed V2 through a manual manipulation simply using theaccelerator pedal AP or the brake pedal BP. For example, the controller140 causes the conversation device 20 to output a vocal sound “Pleasereduce speed if you enter sidewalk.” The definition of the predeterminedstate is similar to that of mode A.

FIG. 7 is a flowchart illustrating an example of a flow of a processperformed by the control device 100 according to the embodiment. In theprocess of the flowchart, mode A is a premise. The process of theflowchart is performed repeatedly, for example, at predetermined timeintervals.

First, the road type recognizer 120 determines whether the mobile object1 is moving on a roadway (or is moving on a sidewalk) (step S200). Whenit is determined that the mobile object 1 is moving on the roadway, thecontroller 140 performs control of the case in which the mobile object 1is moving on the roadway, as described above (step S202). Subsequently,based on a recognition result of the contact portion recognizer 130, thecontroller 140 determines whether the contact portion CP is within thepredetermined range in the traveling direction of the mobile object 1(step S206). When the controller 140 determines that the contact portionCP is within the predetermined range in the traveling direction of themobile object 1, the controller 140 determines whether the roadsituation is the predetermined state based on information supplied fromthe acquirer 110 (step S208). When the controller 140 determines thatthe road situation is the predetermined state, the controller 140performs the specific speed control (step S210).

When a negative determination result is obtained in step S206 or S208,the process of one routine of the flowchart ends. When it is determinedin step S200 that the mobile object 1 is moving on the sidewalk, thecontroller 140 performs control of the case in which the mobile object 1is moving on the sidewalk (step S204).

According to the above-described first embodiment, it is possible toappropriately control a mobile object capable of moving on both aroadway and a sidewalk at the time of entrance to a sidewalk from aroadway. The “predetermined state” is a state in which maneuvering ofthe mobile object 1 is difficult or beyond control or a situation inwhich the occupant P may feel stress is expected. Accordingly, when theroad situation is in the predetermined state, a probability of themobile object 1 entering a sidewalk when the occupant manipulates thesteering wheel WH in the approaching contact portion CP is estimated toincrease. Incidentally, there is a difference between the first speed V1which is the speed of the upper limit or a target speed on a roadway andthe second speed V2 which is the upper limit of the speed or a targetspeed on a sidewalk. Therefore, when the mobile object 1 moving at thefirst speed V1 abruptly enters a sidewalk, a scenario in which suddendeceleration has to be performed can occur. When turning to enter asidewalk is started during movement at the first speed V1 which is arelatively high speed, there is concern of a large lateral accelerationoccurring. That is, there is a possibility of deceleration being lateafter steering actually starts.

On the other hand, the control device 100 according to the embodimentcan inhibit the foregoing sudden deceleration or sudden turning fromoccurring because of bringing of a speed of the mobile object closer tothe second speed V2 when the mobile object 1 is moving on a roadway, thecontact portion CP is recognized within the predetermined range in thetraveling direction of the mobile object 1, and the road situation is inthe predetermined state. As a result, it is possible to performappropriate control at the time of entrance from a roadway to asidewalk.

Second Embodiment

Hereinafter, a second embodiment will be described. The control device100 of the second embodiment is different from that of the firstembodiment in the function of the road type recognizer 120. The roadtype recognizer 120 according to the second embodiment recognizeswhether the mobile object 1 is traveling on a roadway or a sidewalk, forexample, in response to a manipulation of an occupant on a road typeinput switch (not illustrated) provided in the mobile object. The roadtype input switch is provided in, for example, a boss section or thelike of the steering wheel WH. The road type input switch includes, forexample, a mechanism which can be manipulated to upper and lower sidesand maintain a manipulated position, indicates a roadway when the roadtype input switch is manipulated to the upper side, and indicates asidewalk when the road type input switch is manipulated to the lowerside. The road type input switch may be of a button or GUI switch type.When the road type input switch is manipulated in a state in which thecontrol device 100 recognizes that the mobile object is traveling on asidewalk, the recognition may be switched to recognition duringtraveling on a sidewalk. When the road type input switch is manipulatedin a state in which the control device 100 is traveling on a roadway,the recognition may be switched to recognition during traveling on aroadway. In this configuration, since the function of automaticallyrecognizing whether the mobile object 1 is traveling on a roadway or asidewalk can be omitted, it is possible to reduce a processing load orcost. Here, since there is a possibility of an erroneous manipulation byan occupant, the external report device 50 preferably reportsinformation to the outside in the second embodiment.

Others

In the foregoing embodiments, the controller 140 may perform the controlof only one of mode A and mode B. That is, the mobile object 1 mayperform the speed assistance mode and may not perform the manual mode,or may perform the manual mode and may not perform the speed assistancemode. The controller 140 may perform the control of both mode A and modeB, but may perform the specific speed control only when one of mode Aand mode B is performed. In any case, whether to perform the control ofmode C may be arbitrarily determined.

The embodiments for carrying out the present invention have beendescribed above, but the present invention is not limited to theembodiments. Various modifications and substitutions can be made withinthe scope of the present invention without departing from the gist ofthe present invention.

What is claimed is:
 1. A mobile object control device comprising: astorage device storing a program; and a hardware processor, wherein thehardware processor executes the program stored in the storage device to:acquire information indicating a road situation in a traveling directionof a mobile object; recognize whether the mobile object is moving on aroadway or a predetermined region different from the roadway; recognizepresence of a contact portion between the predetermined region and theroadway in the traveling direction of the mobile object; control thespeed of the mobile object at least partially; limit a speed at whichthe mobile object is moving on the roadway to a first speed; limit aspeed at which the mobile object is moving on a sidewalk to a secondspeed slower than the first speed; and bring a speed of the mobileobject closer to the second speed when the mobile object is moving onthe roadway, the contact portion is recognized within a predeterminedrange from the mobile object, and the road situation is in apredetermined state.
 2. The mobile object control device according toclaim 1, wherein the hardware processor questions about an intention toenter the predetermined region using an interface device when the mobileobject is moving on the roadway, the contact portion is recognizedwithin a first predetermined range from the mobile object, and the roadsituation is a predetermined state, and a speed of the mobile object isbrought closer to the second speed when a positive response is obtained.3. The mobile object control device according to claim 1, wherein thehardware processor determines that the road situation is a predeterminedstate when it is recognized based on the acquired information that adead end is within a second predetermined range in the travelingdirection of the mobile object.
 4. The mobile object control deviceaccording to claim 1, wherein the hardware processor determines that theroad situation is a predetermined state when it is recognized based onthe acquired information that a construction site is within a secondpredetermined range in the traveling direction of the mobile object. 5.The mobile object control device according to claim 1, wherein thehardware processor determines that the road situation is a predeterminedstate when it is recognized based on the acquired information thattraffic congestion occurs within a second predetermined range in thetraveling direction of the mobile object.
 6. The mobile object controldevice according to claim 1, wherein the hardware processor determinesthat the road situation is a predetermined state when it is recognizedbased on the acquired information that a speed of another mobile objectmoving in the same direction as the mobile object is greater than athreshold A within a second predetermined range in the travelingdirection of the mobile object.
 7. The mobile object control deviceaccording to claim 1, wherein the hardware processor determines that theroad situation is a predetermined state when it is recognized based onthe acquired information that a predetermined number of types or more ofmobile objects coexist within a second predetermined range in thetraveling direction of the mobile object.
 8. The mobile object controldevice according to claim 1, wherein the hardware processor determinesthat the road situation is a predetermined state when it is recognizedbased on the acquired information that the number of large vehicles isequal to or greater than a threshold B within a second predeterminedrange in the traveling direction of the mobile object.
 9. The mobileobject control device according to claim 1, wherein the hardwareprocessor recognizes whether the mobile object is moving on the roadwayor the predetermined region based on an output of an outside worlddetection device detecting an outside situation of the mobile object.10. The mobile object control device according to claim 1, wherein thehardware processor recognizes whether the mobile object is moving on theroadway or the predetermined region based on a manipulation of anoccupant of the mobile object on a switch provided inside the mobileobject.
 11. The mobile object control device according to claim 1,wherein, when the hardware processor recognizes that the mobile objectis moving on the predetermined region, the hardware processor causes anexternal report device to report the mobile object which is moving onthe predetermined region to the outside of the mobile object.
 12. Amobile object control method using a computer controlling a mobileobject which is capable of moving both on a roadway and a predeterminedregion different from the roadway, the method comprising: acquiringinformation indicating a road situation in a traveling direction of amobile object; recognizing whether the mobile object is moving on aroadway or a predetermined region; recognizing presence of a contactportion between the roadway and the predetermined region in thetraveling direction of the mobile object; controlling the speed of themobile object at least partially; limiting a speed at which the mobileobject is moving on the roadway to a first speed; limiting a speed atwhich the mobile object is moving on the predetermined region to asecond speed slower than the first speed; and bringing the speed of themobile object closer to the second speed when the mobile object ismoving on the roadway, the contact portion is recognized within a firstpredetermined range from the mobile object, and the road situation is apredetermined state.
 13. A mobile object control device comprising: astorage device storing a program; and a hardware processor, wherein thehardware processor executes the program stored in the storage device to:acquire information indicating a road situation in a traveling directionof a mobile object; recognize whether the mobile object is moving on aroadway or a predetermined region different from the roadway; recognizepresence of a contact portion between the roadway and the predeterminedregion in the traveling direction of the mobile object; control thespeed of the mobile object at least partially; limit a speed at whichthe mobile object is moving on the roadway to a first speed; limit aspeed at which the mobile object is moving on a sidewalk to a secondspeed slower than the first speed; and suggest deceleration to anoccupant of the mobile object using an interface device when the mobileobject is moving on the roadway, the contact portion is recognizedwithin a predetermined range from the mobile object, and the roadsituation is in a predetermined state.
 14. A mobile object controlmethod using a computer controlling a mobile object on which at leastone occupant gets and which is capable of moving both on a roadway and apredetermined region different from the roadway, the method comprising:acquiring information indicating a road situation in a travelingdirection of a mobile object; recognizing whether the mobile object ismoving on a roadway or a predetermined region; recognizing presence of acontact portion between the roadway and the predetermined region in thetraveling direction of the mobile object; controlling the speed of themobile object at least partially; limit a speed at which the mobileobject is moving on the roadway to a first speed; limiting a speed atwhich the mobile object is moving on the predetermined region to asecond speed slower than the first speed; and suggesting deceleration tothe occupant using an interface device when the mobile object is movingon the roadway, the contact portion is recognized within a firstpredetermined range from the mobile object, and the road situation is ina predetermined state.